i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

GUI: ask for MLS when saving or viewing high res clouds (added parameter values in progress dialog)

Browse Source 
Source: added focalLength parameter for RGBD camera (if not null, it will override the value from the camera)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1557 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-14 01:25:28 +00:00
parent bcc9469c91
commit 7cfb985478
7 changed files with 277 additions and 124 deletions
Download Patch File Download Diff File Expand all files Collapse all files

282
guilib/src/MainWindow.cpp
View File

@@ -1962,20 +1962,23 @@ void MainWindow::startDetection()
camera = new CameraOpenni(
_preferencesDialog->getSourceOpenniDevice().toStdString(),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFocalLength());
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI2)
{
camera = new CameraOpenNI2(
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFocalLength());
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcFreenect)
{
camera = new CameraFreenect(
_preferencesDialog->getSourceOpenniDevice().isEmpty()?0:atoi(_preferencesDialog->getSourceOpenniDevice().toStdString().c_str()),
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFocalLength());
}
else if(_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV ||
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS)
@@ -1983,7 +1986,8 @@ void MainWindow::startDetection()
camera = new CameraOpenNICV(
_preferencesDialog->getSourceRGBD() == PreferencesDialog::kSrcOpenNI_CV_ASUS,
_preferencesDialog->getGeneralInputRate(),
_preferencesDialog->getSourceOpenniLocalTransform());
_preferencesDialog->getSourceOpenniLocalTransform(),
_preferencesDialog->getSourceOpenniFocalLength());
}
else
{
@@ -2804,8 +2808,14 @@ void MainWindow::savePointClouds()
{
int button = QMessageBox::question(this,
tr("One or multiple files?"),
tr("Merge all clouds together?"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
tr("Merge all clouds together?"
"\n\nNote that all saving parameters [decimation=%1, voxel=%2m, max depth=%3m] can be found in "
"Preferences -> GUI -> 3D Rendering under Saving column.")
.arg(_preferencesDialog->getCloudDecimation(2))
.arg(_preferencesDialog->getCloudVoxelSize(2))
.arg(_preferencesDialog->getCloudMaxDepth(2)),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::Yes);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
@@ -2820,22 +2830,45 @@ void MainWindow::savePointClouds()
if(button == QMessageBox::Yes)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(poses);
if(_preferencesDialog->getMeshSmoothing(1))
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (The cloud has %1 points, this "
"may take a while to process!)").arg(cloud->size()),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares algorithm..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
if(button == QMessageBox::Yes)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m]").arg(_preferencesDialog->getMeshSmoothingRadius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
}
clouds.insert(std::make_pair(0, cloud));
}
clouds.insert(std::make_pair(0, cloud));
}
else
{
clouds = this->createPointClouds(poses);
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (This "
"may take a while to process!)"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
clouds = this->createPointClouds(poses, button == QMessageBox::Yes);
}
}
savePointClouds(clouds);
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -2848,8 +2881,14 @@ void MainWindow::saveMeshes()
tr("One or multiple files?"),
tr("Merge all clouds together before surface reconstruction?\n"
" Yes: Output a single mesh for the merged clouds.\n"
" No: Output a mesh for each cloud."),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
" No: Output a mesh for each cloud."
"\n\nNote that all saving parameters [decimation=%1, voxel=%2m, max depth=%3m] can be found in "
"Preferences -> GUI -> 3D Rendering under Saving column.")
.arg(_preferencesDialog->getCloudDecimation(2))
.arg(_preferencesDialog->getCloudVoxelSize(2))
.arg(_preferencesDialog->getCloudMaxDepth(2)),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::Yes);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
@@ -2869,33 +2908,57 @@ void MainWindow::saveMeshes()
QApplication::processEvents();
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(1))
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (The cloud has %1 points, this "
"may take a while to process!)").arg(cloud->size()),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares algorithm..."));
if(button == QMessageBox::Yes)
{
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m]").arg(_preferencesDialog->getMeshSmoothingRadius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
}
else
{
_initProgressDialog->appendText(tr("Computing surface normals (without smoothing)... "
"[K neighbors=%1]").arg(_preferencesDialog->getMeshNormalKSearch(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
_initProgressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(_preferencesDialog->getMeshGP3Radius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
_initProgressDialog->appendText(tr("Computing surface normals (without smoothing)..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
_initProgressDialog->appendText(tr("Greedy projection triangulation..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
meshes = this->createMeshes(poses);
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (This "
"may take a while to process!)"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
meshes = this->createMeshes(poses, button == QMessageBox::Yes);
}
}
saveMeshes(meshes);
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -2908,8 +2971,14 @@ void MainWindow::viewPointClouds()
{
int button = QMessageBox::question(this,
tr("One or multiple clouds?"),
tr("Merge all clouds together?"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
tr("Merge all clouds together?"
"\n\nNote that all saving parameters [decimation=%1, voxel=%2m, max depth=%3m] can be found in "
"Preferences -> GUI -> 3D Rendering under High res view column.")
.arg(_preferencesDialog->getCloudDecimation(2))
.arg(_preferencesDialog->getCloudVoxelSize(2))
.arg(_preferencesDialog->getCloudMaxDepth(2)),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::Yes);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
@@ -2925,23 +2994,46 @@ void MainWindow::viewPointClouds()
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud(poses);
if(_preferencesDialog->getMeshSmoothing(1))
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (The cloud has %1 points, this "
"may take a while to process!)").arg(cloud->size()),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares algorithm..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
if(button == QMessageBox::Yes)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m]").arg(_preferencesDialog->getMeshSmoothingRadius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
cloud->clear();
pcl::copyPointCloud(*cloudWithNormals, *cloud);
}
clouds.insert(std::make_pair(0, cloud));
}
clouds.insert(std::make_pair(0, cloud));
}
else
{
clouds = this->createPointClouds(poses);
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (This "
"may take a while to process!)"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
clouds = this->createPointClouds(poses, button == QMessageBox::Yes);
}
}
if(clouds.size())
@@ -2972,10 +3064,6 @@ void MainWindow::viewPointClouds()
_initProgressDialog->appendText(tr("Viewing the cloud %1 (%2 points)... done.").arg(iter->first).arg(iter->second->size()));
}
}
else
{
QMessageBox::warning(this, tr("Viewing clouds failed!"), tr("Clouds are empty..."));
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}
@@ -2987,8 +3075,14 @@ void MainWindow::viewMeshes()
tr("One or multiple meshes?"),
tr("Merge all clouds together before surface reconstruction?\n"
" Yes: Output a single mesh for the merged clouds.\n"
" No: Output a mesh for each cloud."),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel);
" No: Output a mesh for each cloud."
"\n\nNote that all saving parameters [decimation=%1, voxel=%2m, max depth=%3m] can be found in "
"Preferences -> GUI -> 3D Rendering under High res view column.")
.arg(_preferencesDialog->getCloudDecimation(2))
.arg(_preferencesDialog->getCloudVoxelSize(2))
.arg(_preferencesDialog->getCloudMaxDepth(2)),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::Yes);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
@@ -3008,33 +3102,57 @@ void MainWindow::viewMeshes()
QApplication::processEvents();
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(1))
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (The cloud has %1 points, this "
"may take a while to process!)").arg(cloud->size()),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares algorithm..."));
if(button == QMessageBox::Yes)
{
_initProgressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m]").arg(_preferencesDialog->getMeshSmoothingRadius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
}
else
{
_initProgressDialog->appendText(tr("Computing surface normals (without smoothing)... "
"[K neighbors=%1]").arg(_preferencesDialog->getMeshNormalKSearch(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
_initProgressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(_preferencesDialog->getMeshGP3Radius(1)));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
_initProgressDialog->appendText(tr("Computing surface normals (without smoothing)..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
_initProgressDialog->appendText(tr("Greedy projection triangulation..."));
_initProgressDialog->incrementStep();
QApplication::processEvents();
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
meshes = this->createMeshes(poses);
button = QMessageBox::question(
this,
tr("Smoothing..."),
tr("Would you want to smooth the surface using Moving "
"Least Squares algorithm? (This "
"may take a while to process!)"),
QMessageBox::Yes | QMessageBox::No | QMessageBox::Cancel,
QMessageBox::No);
if(button == QMessageBox::Yes || button == QMessageBox::No)
{
meshes = this->createMeshes(poses, button == QMessageBox::Yes);
}
}
if(meshes.size())
@@ -3067,10 +3185,6 @@ void MainWindow::viewMeshes()
QApplication::processEvents();
}
}
else
{
QMessageBox::warning(this, tr("Viewing meshes failed!"), tr("Meshes are empty..."));
}
_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
}
@@ -3485,7 +3599,9 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr MainWindow::createAssembledCloud(const st
return assembledCloud;
}
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointClouds(const std::map<int, Transform> & poses) const
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointClouds(
const std::map<int, Transform> & poses,
bool applyMLS) const
{
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
int i=0;
@@ -3515,7 +3631,7 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointCl
if(cloud->size())
{
if(_preferencesDialog->getMeshSmoothing(1))
if(applyMLS)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
@@ -3552,7 +3668,7 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::createPointCl
return clouds;
}
std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes(const std::map<int, Transform> & poses) const
std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes(const std::map<int, Transform> & poses, bool applyMLS) const
{
std::map<int, pcl::PolygonMesh::Ptr> meshes;
int i=0;
@@ -3584,7 +3700,7 @@ std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes(const std::map<int
if(cloud->size())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(1))
if(applyMLS)
{
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
}